Missing dependency. Combine 2 launch files into one.

[130s]

motoman_sim.launch does nothing but just launch a file from motoman_sia20d_moveit_config package, which I don't see a necessity.

Also adding a config for Travis. If this LGTY, any admins please enable Travis (at something like https://travis-ci.org/profile/ros-industrial-consortium) by a single click to get the checking started.

[JeroenDM]

I think it can be useful to have the two separate launch files. Then you can run the tutorial several times in a separate console, while not having to wait for rviz and moveit every time. This can also be achieved by running the proposed single launch file and then for rerunning, using rosrun in a separate console and using: rosrun descartes_tutorials tutorial1. (Or, a third way, let the tutorial auto-repeat itself until it is stopped from console.) I don't know what's best.

[Jmeyer1292]

These things are fine, but the real problem is that this tutorial does not reflect how the Descartes package is used in production at all. It needs closed form kinematic models and more interesting trajectories.

[JeroenDM]

The missing dependency should be added maybe for the rosdep command in the tutorial to work I think.

[yijiangh]

@Jmeyer1292 : @JeroenDM has expanded the tutorial with another tutorial application - here [1], with kuka robot equipped with welding torch end effector and closed-form ik model (check this line of code). Although the example has issue with collision avoidance and desire process path is not interesting enough, I think it's still a good complement to current tutorial. @JeroenDM Could you please try to fix the collision issue and creat a pull request?

[1] https://github.com/JeroenDM/descartes_tutorials